Hi. For my research project I would like to simulate an amphibious robot that interacts with water. Both PhysX and Flex seem to be able to do this using discrete particle simulations to model fluids. I was wondering if there is a smart way to load an environment with water (i.e. a lot of particles that utilize FEM or SPH techniques) that can be designed beforehand (using for example Unity, Isaac Omniverse or Flex).